CN112091985A - Demonstrator hot plug circuit and demonstrator hot plug control method - Google Patents
Demonstrator hot plug circuit and demonstrator hot plug control method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application relates to a demonstrator hot plug circuit and a demonstrator hot plug control method, wherein the demonstrator hot plug circuit comprises a controller for controlling the working state of a robot, and an emergency stop loop and a working signal simulation loop which are respectively connected with the controller; when the controller detects a trigger signal, the emergency stop loop stops sending a working signal to the controller, and meanwhile, the working signal simulation loop simulates and generates the working signal and continuously sends the working signal to the controller, so that the controller continuously receives the working signal and controls the robot to continuously be in a working state according to the working signal. Even if the demonstrator is taken down, the working signal simulation circuit can simulate to generate the working signal and send the working signal to the controller, and the controller still receives the working signal at the moment, so that the situation that the robot is suddenly stopped due to the fact that the controller cannot receive the working signal of the sudden stop circuit is avoided.
Description
Technical Field
The application relates to the technical field of robot teaching, in particular to a demonstrator hot plug circuit and a demonstrator hot plug control method.
Background
The demonstrator is used as the only human-computer interaction equipment in the robot control system and is responsible for inputting a working instruction set in the demonstrator by a user into a lower controller of the robot, and the lower controller can be separated from the demonstrator after obtaining the working instruction, so that the robot can be independently controlled to work according to the working instruction.
At present, an emergency stop loop is generally arranged in a connecting circuit of a demonstrator and a robot, an emergency stop button is arranged in the emergency stop loop, the emergency stop button is actually positioned on the demonstrator, when the demonstrator is installed on the robot, one end of the emergency stop button is connected with a power supply, the other end of the emergency stop button is connected with one pin of a lower controller, the pin of the lower controller is at a high level, and the lower controller controls the robot to be in a normal working state; if the working process of the robot needs to be stopped emergently, the emergency stop button can be directly pressed down so as to disconnect the emergency stop loop, at the moment, a pin of the lower controller connected with the emergency stop loop is at a low level, and the lower controller controls the robot to perform emergency stop and gives an alarm.
In the actual production process, the demonstrator is often taken down from the robot on the basis of normal work of the robot, if the demonstrator is taken down from the robot, the emergency stop loop is also disconnected, at this time, the pin of the lower controller connected with the emergency stop loop is also changed into low level, the lower controller controls the robot to perform emergency stop, and the robot is abnormally stopped and cannot continue to work.
Disclosure of Invention
In order to overcome the problems in the related technology to a certain extent at least and avoid the occurrence of the condition that the robot is triggered to suddenly stop when the demonstrator is taken down, the application provides a demonstrator hot plug circuit and a demonstrator hot plug control method.
According to a first aspect of the application, a demonstrator hot plug circuit is provided, which comprises:
the robot control system comprises a controller for controlling the working state of the robot, and an emergency stop loop and a working signal simulation loop which are respectively connected with the controller;
when the controller detects a trigger signal, the emergency stop loop stops sending a working signal to the controller, and meanwhile, the working signal simulation loop simulates and generates the working signal and continuously sends the working signal to the controller, so that the controller continuously receives the working signal and controls the robot to continuously be in a working state according to the working signal.
Optionally, the emergency stop loop is connected to a first input end of the controller;
the working signal analog loop comprises a first diode, wherein the anode of the first diode is connected with the first output end of the controller, and the cathode of the first diode is connected with the first input end;
when the controller detects a trigger signal, the controller continuously generates the working signal through the first output end and sends the working signal to the controller through the first diode and the first input end.
Optionally, the emergency stop loop is connected to a first input end of the controller;
the working signal simulation circuit comprises a signal generator and a relay, wherein the signal output end of the signal generator is connected with one end of the relay switch side, and the other end of the relay switch side is connected with the first input end;
one end of the relay coil side is connected with the first output end of the controller, and the other end of the relay coil side is grounded;
when the controller detects a trigger signal, the signal generator continuously generates the working signal, meanwhile, the controller enables the relay coil side to be electrified through the first output end so as to drive the relay switch side to be closed, and the working signal is sent to the controller through the relay switch side and the first input end.
Optionally, the demonstrator hot-plug circuit further comprises a hot-plug signal triggering circuit;
the hot plug signal trigger circuit is connected with the controller, and when the controller detects the trigger signal, the hot plug signal trigger circuit generates a hot plug signal and sends the hot plug signal to the controller, so that the controller controls the working signal simulation circuit to simulate and generate the working signal according to the hot plug signal.
Optionally, the hot plug signal triggering circuit includes a triggering switch sub-circuit, and the triggering switch sub-circuit includes a triggering switch and a hot plug signal source;
one end of the trigger switch is connected with the hot plug signal source, and the other end of the trigger switch is connected with a second input end of the controller;
when the controller detects a trigger signal, the trigger switch is closed, and the hot plug signal source sends the hot plug signal to the controller through the trigger switch and the second input end.
Optionally, the hot plug signal triggering circuit further includes a demonstrator access detection sub-circuit, where the demonstrator access detection sub-circuit includes a second diode;
one end of the second diode is connected with a second output end of the controller, the other end of the second diode is connected with a third input end of the controller, and the second output end sends an access signal to the third input end through the second diode;
when the controller detects a trigger signal, the second diode is disconnected from the second output end and the third input end, so that the access signal cannot be sent to the controller through the third input end.
Optionally, the demonstrator hot plug circuit further includes a demonstrator power supply loop, and the controller is configured to control the demonstrator power supply loop to supply power to the demonstrator or stop supplying power to the demonstrator according to the hot plug signal and the access signal.
Optionally, the demonstrator power supply loop includes a power supply and a controllable switching device, the controllable switching device includes a control end and a working end, and the control end is used to control the switching state of the working end;
the control end is connected with the controller, one end of the working end is connected with the power supply, and the other end of the working end supplies power to the demonstrator;
and the controller controls the working end to be opened or closed by using the control end according to the hot plug signal received by the second input end and the access signal received by the third input end.
Optionally, the controllable switching device is a triode, a field effect transistor or a relay.
Optionally, the second diode is a light emitting diode, and the light emitting diode is arranged on the demonstrator.
According to a second aspect of the application, a demonstrator hot plug control method is provided, which comprises the following steps:
acquiring a demonstrator pulling-out signal;
controlling the working signal simulation loop to simulate and generate the working signal according to the demonstrator pulling signal and continuously sending the working signal to the controller;
and controlling the robot to be in a working state according to the working signal.
Optionally, the obtaining a demonstrator pulling-out signal includes:
acquiring a hot plug signal generated by a hot plug signal trigger circuit and an access signal detected by a demonstrator access detection sub-circuit;
and obtaining the demonstrator pulling-out signal according to the signal states of the hot plug signal and the access signal.
Optionally, the method further includes:
controlling the demonstrator power supply circuit to stop supplying power to the demonstrator according to the demonstrator pulling-out signal;
acquiring a demonstrator access signal;
and controlling the demonstrator power supply circuit to supply power to the demonstrator according to the demonstrator access signal.
The technical scheme provided by the application can comprise the following beneficial effects: because the demonstrator hot plug circuit in this application is provided with controller, scram return circuit and working signal simulation return circuit, wherein, the controller is used for controlling the operating condition of robot, scram return circuit and working signal simulation return circuit are connected with the controller respectively, when the demonstrator is taken off, scram return circuit stops to send working signal to the controller, and working signal simulation return circuit simulation simultaneously generates this working signal and continuously sends non-controller to make the controller continuously receive this working signal, and be in operating condition according to this working signal control robot. Therefore, even if the demonstrator is taken down, the emergency stop loop does not send the working signal to the controller any more, but the working signal simulation loop can simulate to generate the working signal and send the working signal to the controller, and the controller still receives the working signal at the moment, so that the situation that the robot is in emergency stop due to the fact that the controller cannot receive the working signal of the emergency stop loop is avoided.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
FIG. 1 is a schematic connection diagram of a teach pendant hot plug circuit according to an embodiment of the present application.
Fig. 2 is a flowchart illustrating a method for controlling hot plug of a teach pendant according to another embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
Before explaining the aspects of the present application, a conventional teach pendant, robot, and scram circuit will be described herein for ease of understanding. At present, when a demonstrator is installed on a robot, an emergency stop loop can form a loop, the connection between the demonstrator and the robot is generally realized through a plug and an interface, circuits related to the emergency stop loop are distributed on the demonstrator and the robot, for example, a normally closed emergency stop button is arranged in the emergency stop loop, the emergency stop button is arranged on the demonstrator, a signal input end of the emergency stop loop is connected with a controller of the robot, the robot can be controlled to be in a working state as long as the robot can receive a working signal transmitted by the emergency stop loop through the signal input end, the emergency stop button is pressed to cause the emergency stop loop to be disconnected, the controller cannot receive the working signal of the emergency stop loop, and at the moment, the controller can immediately control the robot to perform emergency stop.
Because the scram return circuit all distributes in these both sides of demonstrator and robot, if the demonstrator takes off from the robot, also can lead to the scram return circuit disconnection in the same way, and the controller also can not receive the working signal in scram return circuit, and at this moment, the controller can control the robot scram at once again.
Therefore, in order to avoid the occurrence of the situation that the robot is triggered to suddenly stop when the teach pendant is taken down, the present application provides a teach pendant hot plug circuit and a teach pendant hot plug control method, which are described in the following by way of example.
Referring to fig. 1, fig. 1 is a schematic connection diagram of a hot plug circuit of a teach pendant according to an embodiment of the present disclosure.
As shown in fig. 1, the hot plug circuit of the demonstrator provided in this embodiment may include a controller for controlling the working state of the robot, and an emergency stop loop and a working signal simulation loop respectively connected to the controller;
when the controller detects a trigger signal, the emergency stop loop stops sending a working signal to the controller, and meanwhile, the working signal simulation loop simulates and generates the working signal and continuously sends the working signal to the controller, so that the controller continuously receives the working signal and controls the robot to continuously be in a working state according to the working signal.
Based on the circuit of the embodiment, even if the demonstrator is taken down, the emergency stop loop does not send the working signal to the controller any more, but the working signal simulation loop can simulate to generate the working signal and send the working signal to the controller, and the controller still receives the working signal at the moment, so that the situation that the robot is in emergency stop due to the fact that the controller cannot receive the working signal of the emergency stop loop is avoided.
Specifically, as shown in fig. 1, the emergency STOP circuit may include an emergency STOP button S2 disposed on the side of the demonstrator, an emergency STOP signal source V _ STOP disposed on the side of the robot, and a voltage dividing resistor R3, wherein the emergency STOP signal source is connected to one end of the emergency STOP button, the other end of the emergency STOP button is respectively connected to one end of the voltage dividing resistor and the first input end of the controller (i.e., SJQ _ STOP in fig. 1), and the other end of the voltage dividing resistor is grounded. In this embodiment, the emergency stop button may be a normally closed button, that is, a normally closed switch button, the emergency stop signal source may be a voltage-stabilized power supply, and when the emergency stop button is closed, after voltage division by the voltage-dividing resistor, the voltage obtained at the first input terminal of the controller is just a common high level (that is, a working signal) in the digital circuit. If the plug is inserted into the interface and the emergency stop button is closed, the controller continuously receives the high level through the first input end, and if the emergency stop button is pressed down or the plug is pulled out of the interface (the demonstrator is taken down), the controller cannot receive the high level, so that the robot is controlled to be in emergency stop.
Therefore, in this embodiment, a working signal simulation loop may be provided, and when the demonstrator is removed, the high level (i.e., the working signal) is generated in a simulation manner and sent to the first input end, at this time, the controller may still receive the high level, and the robot may not be controlled to stop suddenly, so that the robot continues to be in a working state. Wherein the operation signal analog loop may include a first diode D2 having an anode connected to a first output terminal (i.e., ROB _ START1) of the controller and a cathode connected to the first input terminal (i.e., SJQ _ STOP); when the controller detects a trigger signal, the controller continuously generates the working signal through the first output end and sends the working signal to the controller through the first diode and the first input end.
In another example, the working signal analog circuit comprises a signal generator and a relay, wherein a signal output end of the signal generator is connected with one end of the relay switch side, and the other end of the relay switch side is connected with the first input end; one end of the relay coil side is connected with the first output end of the controller, and the other end of the relay coil side is grounded; when the controller detects a trigger signal, the signal generator continuously generates the working signal, meanwhile, the controller enables the relay coil side to be electrified through the first output end so as to drive the relay switch side to be closed, and the working signal is sent to the controller through the relay switch side and the first input end.
By utilizing the relay, whether the working signal simulated by the working signal simulation loop is sent to the controller or not can be effectively controlled according to the signal output by the first input end of the controller.
As shown in fig. 1, the demonstrator hot-plug circuit further comprises a hot-plug signal trigger circuit and a demonstrator power supply circuit; the hot plug signal trigger circuit is connected with the controller, and when the controller detects the trigger signal, the hot plug signal trigger circuit generates a hot plug signal and sends the hot plug signal to the controller, so that the controller controls the working signal simulation circuit to simulate and generate the working signal according to the hot plug signal.
Wherein the hot plug signal triggering circuit comprises a triggering switch sub-circuit, and the triggering switch sub-circuit comprises a triggering switch S1 and a hot plug signal source (i.e., +5V marked in FIG. 2); one end of the trigger switch is connected with the hot plug signal source, and the other end of the trigger switch is connected with a second input end ROB _ RCB of the controller; when the controller detects a trigger signal, the trigger switch is closed, and the hot plug signal source sends the hot plug signal to the controller through the trigger switch and the second input end.
Further, the hot plug signal trigger circuit further comprises a teach pendant access detection sub-circuit, and the teach pendant access detection sub-circuit comprises a second diode D1; one end of the second diode is connected with a second output end ROB _ SJQ of the controller, the other end of the second diode is connected with a third input end SJQ _ ROB of the controller, and the second output end sends an access signal to the third input end through the second diode; when the controller detects a trigger signal, the second diode is disconnected from the second output end and the third input end, so that the access signal cannot be sent to the controller through the third input end.
In addition, for the demonstrator power supply loop, the controller is used for controlling the demonstrator power supply loop to supply power to the demonstrator or stopping supplying power to the demonstrator according to the hot plug signal and the access signal.
Specifically, the demonstrator power supply loop comprises a power supply source (namely +24V marked in fig. 2) and a controllable switching device Q1, wherein the controllable switching device comprises a control terminal and a working terminal, and the control terminal is used for controlling the switching state of the working terminal; the control end is connected with the controller ROB _ START2, one end of the working end is connected with the power supply, and the other end of the working end supplies power for the demonstrator; and the controller controls the working end to be opened or closed by using the control end according to the hot plug signal received by the second input end and the access signal received by the third input end.
It should be noted that, in the above embodiments, the controllable switching device is a triode, a field effect transistor, or a relay. The second diode is a light emitting diode, and the light emitting diode is arranged on the demonstrator.
In a specific scenario, the process of removing the teach pendant may be, the trigger switch is pressed manually, at this time, the trigger switch may be closed, the controller may acquire a high level sent from the hot plug signal source through the second input terminal, at this time, the controller may detect a rising signal through the second input terminal, thereby starting to detect the level of ROB _ START2 output by the controller, if the level is high, it indicates that the power supply of the teach pendant is normal, at this time, the high level output by ROB _ START2 may be changed into a low level, so that the power supply circuit of the teach pendant stops supplying power to the teach pendant, and at the same time, the working signal analog loop is controlled to send a working signal to ROB _ START1, and at this time, if the teach pendant is removed, the robot is not damaged by the power supply loop of the teach pendant, and the robot does not suddenly stop.
In another specific scenario, the process of installing the teach pendant may include first determining whether the controller is operating normally, if the controller is not operating, for example, not powering on, then directly installing the teach pendant, and then normally starting the controller and the teach pendant, if the controller is already in an operating state, for example, powering on, then installing the teach pendant on the robot, then manually pressing the trigger switch, at which time the trigger switch is closed, the controller may obtain a high level sent by the hot-plug signal source through the second input terminal, at which time the controller may detect a rising signal (i.e., a hot-plug trigger signal) through the second input terminal, after receiving the signal, the controller STARTs detecting ROB _ START2, if the signal is a low level, at which time ROB _ SJQ outputs a high level, then detects SJQ _ ROB, and if the signal is a high level, the controller receives an access signal, indicating that the teach pendant has been properly engaged, ROB _ START2 is set high to allow the teach pendant power supply loop to supply power to the teach pendant, and ROB _ START1 goes low and the emergency stop loop reverts to the previous state.
Referring to fig. 2, fig. 2 is a flowchart illustrating a method for controlling hot plug of a teach pendant according to another embodiment of the present application.
As shown in fig. 2, the method in this embodiment is applied to the teach pendant hot plug circuit provided in the foregoing embodiment, and may specifically include:
step S201, acquiring a trigger signal.
The trigger signal may represent a signal for pulling out the demonstrator, or a signal for accessing the demonstrator, and is specifically determined according to the hot-plug signal and the access signal, and this step may include: acquiring a hot plug signal and an access signal; and obtaining the trigger signal according to the signal states of the hot plug signal and the access signal.
Step S202, controlling the working signal simulation loop to simulate and generate the working signal according to the trigger signal;
and S203, controlling the robot to be in a working state according to the working signal.
Because the demonstrator hot plug circuit in this application is provided with controller, scram return circuit and working signal simulation return circuit, wherein, the controller is used for controlling the operating condition of robot, scram return circuit and working signal simulation return circuit are connected with the controller respectively, when the demonstrator is taken off, scram return circuit stops to send working signal to the controller, and working signal simulation return circuit simulation simultaneously generates this working signal and continuously sends non-controller to make the controller continuously receive this working signal, and be in operating condition according to this working signal control robot. Therefore, even if the demonstrator is taken down, the emergency stop loop does not send the working signal to the controller any more, but the working signal simulation loop can simulate to generate the working signal and send the working signal to the controller, and the controller still receives the working signal at the moment, so that the situation that the robot is in emergency stop due to the fact that the controller cannot receive the working signal of the emergency stop loop is avoided.
It should be noted that, in the present embodiment, reference may be made to the foregoing embodiments for details regarding the sources of the signals, and details are not described herein again.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present application, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (12)
1. A hot plug circuit of a demonstrator is characterized by comprising a controller for controlling the working state of a robot, and an emergency stop loop and a working signal simulation loop which are respectively connected with the controller;
when the controller detects a trigger signal, the emergency stop loop stops sending a working signal to the controller, and meanwhile, the working signal simulation loop simulates and generates the working signal and continuously sends the working signal to the controller, so that the controller continuously receives the working signal and controls the robot to continuously be in a working state according to the working signal.
2. The demonstrator hot plug circuit of claim 1, wherein the scram loop is connected to a first input terminal of the controller;
the working signal analog loop comprises a first diode, wherein the anode of the first diode is connected with the first output end of the controller, and the cathode of the first diode is connected with the first input end;
when the controller detects a trigger signal, the controller continuously generates the working signal through the first output end and sends the working signal to the controller through the first diode and the first input end.
3. The demonstrator hot plug circuit of claim 1, wherein the scram loop is connected to a first input terminal of the controller;
the working signal simulation circuit comprises a signal generator and a relay, wherein the signal output end of the signal generator is connected with one end of the relay switch side, and the other end of the relay switch side is connected with the first input end;
one end of the relay coil side is connected with the first output end of the controller, and the other end of the relay coil side is grounded;
when the controller detects a trigger signal, the signal generator continuously generates the working signal, meanwhile, the controller enables the relay coil side to be electrified through the first output end so as to drive the relay switch side to be closed, and the working signal is sent to the controller through the relay switch side and the first input end.
4. The demonstrator hot plug circuit according to any one of claims 1 to 3, wherein the demonstrator hot plug circuit further comprises a hot plug signal trigger circuit;
the hot plug signal trigger circuit is connected with the controller, and when the controller detects the trigger signal, the hot plug signal trigger circuit generates a hot plug signal and sends the hot plug signal to the controller, so that the controller controls the working signal simulation circuit to simulate and generate the working signal according to the hot plug signal.
5. The demonstrator hot plug circuit of claim 4, wherein the hot plug signal trigger circuit comprises a trigger switch sub-circuit, and the trigger switch sub-circuit comprises a trigger switch and a hot plug signal source;
one end of the trigger switch is connected with the hot plug signal source, and the other end of the trigger switch is connected with a second input end of the controller;
when the controller detects a trigger signal, the trigger switch is closed, and the hot plug signal source sends the hot plug signal to the controller through the trigger switch and the second input end.
6. The teach pendant hot plug circuit of claim 5, wherein the hot plug signal trigger circuit further comprises a teach pendant attach detection sub-circuit, the teach pendant attach detection sub-circuit comprising a second diode;
one end of the second diode is connected with a second output end of the controller, the other end of the second diode is connected with a third input end of the controller, and the second output end sends an access signal to the third input end through the second diode;
when the controller detects a trigger signal, the second diode is disconnected from the second output end and the third input end, so that the access signal cannot be sent to the controller through the third input end.
7. The teach pendant hot plug circuit of claim 6, further comprising a teach pendant power supply loop, wherein the controller is configured to control the teach pendant power supply loop to supply power to the teach pendant or to stop supplying power to the teach pendant according to the hot plug signal and the access signal.
8. The demonstrator hot plug circuit of claim 7, wherein the demonstrator power supply loop comprises a power supply and a controllable switching device, the controllable switching device comprises a control terminal and a working terminal, and the control terminal is used for controlling the switching state of the working terminal;
the control end is connected with the controller, one end of the working end is connected with the power supply, and the other end of the working end supplies power to the demonstrator;
and the controller controls the working end to be opened or closed by using the control end according to the hot plug signal received by the second input end and the access signal received by the third input end.
9. A teach pendant hot swap circuit according to claim 8, wherein the controllable switch device is a transistor, a fet, or a relay.
10. The teach pendant hot swap circuit of claim 6 wherein the second diode is a light emitting diode, the light emitting diode being disposed on the teach pendant.
11. A method for controlling hot plug of a demonstrator, which is applied to a hot plug circuit of the demonstrator according to any one of claims 1 to 10, the method comprising:
acquiring a trigger signal;
controlling the working signal simulation loop to simulate and generate the working signal according to the trigger signal;
and controlling the robot to be in a working state according to the working signal.
12. The method of claim 11, wherein said obtaining a teach pendant pull signal comprises:
acquiring a hot plug signal and an access signal;
and obtaining the trigger signal according to the signal states of the hot plug signal and the access signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011070313.6A CN112091985B (en) | 2020-09-30 | 2020-09-30 | Demonstrator hot plug circuit and demonstrator hot plug control method |
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| DE102015009524A1 (en) * | 2014-07-30 | 2016-02-04 | Fanuc Corporation | Robot control device with a detachable handheld programmer |
| JP2016146184A (en) * | 2015-02-03 | 2016-08-12 | 地方独立行政法人東京都立産業技術研究センター | Emergency shutdown method, and emergency shutdown system and self-diagnostic method for the same |
| WO2018135613A1 (en) * | 2017-01-20 | 2018-07-26 | 川崎重工業株式会社 | Robot system and robot control device |
| CN109397260A (en) * | 2018-10-16 | 2019-03-01 | 珠海格力电器股份有限公司 | Teaching machine hot plug device, industrial robot and its teaching machine hot-plug method |
| CN111002327A (en) * | 2019-12-09 | 2020-04-14 | 珠海格力电器股份有限公司 | System and method for controlling plugging and unplugging of demonstrator and robot |
| CN111045356A (en) * | 2019-11-07 | 2020-04-21 | 珠海格力电器股份有限公司 | Method and circuit for realizing hot plug of industrial robot demonstrator |
| CN213471197U (en) * | 2020-09-30 | 2021-06-18 | 珠海格力电器股份有限公司 | Hot plug circuit of demonstrator |
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| DE102015009524A1 (en) * | 2014-07-30 | 2016-02-04 | Fanuc Corporation | Robot control device with a detachable handheld programmer |
| JP2016146184A (en) * | 2015-02-03 | 2016-08-12 | 地方独立行政法人東京都立産業技術研究センター | Emergency shutdown method, and emergency shutdown system and self-diagnostic method for the same |
| WO2018135613A1 (en) * | 2017-01-20 | 2018-07-26 | 川崎重工業株式会社 | Robot system and robot control device |
| CN109397260A (en) * | 2018-10-16 | 2019-03-01 | 珠海格力电器股份有限公司 | Teaching machine hot plug device, industrial robot and its teaching machine hot-plug method |
| CN111045356A (en) * | 2019-11-07 | 2020-04-21 | 珠海格力电器股份有限公司 | Method and circuit for realizing hot plug of industrial robot demonstrator |
| CN111002327A (en) * | 2019-12-09 | 2020-04-14 | 珠海格力电器股份有限公司 | System and method for controlling plugging and unplugging of demonstrator and robot |
| CN213471197U (en) * | 2020-09-30 | 2021-06-18 | 珠海格力电器股份有限公司 | Hot plug circuit of demonstrator |
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| CN112091985B (en) | 2023-12-08 |
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